An unmanned aerial vehicle autonomous dynamic landing device and a landing method thereof

Abstract

The present application relates to the technical field of unmanned aerial vehicle autonomous landing, in particular to an unmanned aerial vehicle autonomous dynamic landing device and a landing method thereof, the landing device comprising a landing platform, a base, an electric take-off and landing mechanism, an electromagnetic pushing mechanism, a protection cone, a docking code and a landing code, the base being located above the landing platform, the protection cone being fixed on the base through the electric take-off and landing mechanism, the electromagnetic pushing mechanism being installed at the center of the protection cone, the docking code being vertically fixed above the protection cone, and the landing code being horizontally fixed on the landing platform. The present application can meet various application scenarios such as long-distance positioning, short-distance positioning and dynamic landing of unmanned aerial vehicles.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle autonomous landing, in particular to an unmanned aerial vehicle autonomous dynamic landing device and a landing method thereof. BACKGROUND

[0002] In recent years, the technology related to unmanned aerial vehicles has developed rapidly, and unmanned aerial vehicles have been widely used in many fields such as industry, agriculture, and military. However, how to safely and reliably land an unmanned aerial vehicle is the most concerned and unavoidable technical problem in the application scenario of unmanned aerial vehicles. For open landing scenarios with low precision requirements, the current main method is to rely on GPS to guide the autonomous landing of unmanned aerial vehicles. Unmanned aerial vehicles fly to the target landing position according to GPS information, and use laser, ultrasonic, and other distance sensors to obtain the height information of the unmanned aerial vehicle and the ground, and finally complete autonomous landing within a certain error range. Limited by the positioning accuracy of GPS and the influence of the surrounding environment, the error of this landing method is generally about 5 meters, so it cannot be applied to scenarios with high precision requirements and mobile platform landing.

[0003] For static landing scenarios with high precision requirements, a strategy of combining GPS and visual landing positioning devices is often used to realize long-distance and short-distance positioning and tracking, such as CN115793677, CN114489129, and CN109407700. Unmanned aerial vehicles first hover in the target position within a range of about 5 meters according to GPS information, and then use visual information to detect and locate landmarks such as Apriltag identification codes on the landing device, combined with Kalman filtering and visual servoing control algorithms to complete the final autonomous landing process. This landing method benefits from the guidance of visual positioning devices, and the landing error is small. However, when facing dynamic landing scenarios such as moving car roofs, this landing device based on a single visual landmark guide brings great challenges to the short-distance positioning and tracking of unmanned aerial vehicles, and faces serious problems such as loss of short-distance target tracking, significant increase in landing error, and even inability to land normally.

[0004] For mobile target landing scenarios with high precision requirements, remote control and auxiliary landing devices are still the main methods, such as CN115352646, CN115352622, CN112093037, and CN110745253. Such auxiliary landing devices can effectively alleviate the problems of unmanned aerial vehicles landing on complex ground and unmanned aerial vehicles quickly adsorbing at close range, and have certain practical value. However, this landing device relies on human intervention, and when facing the landing problem of high-speed mobile platforms, the operation level of the unmanned aerial vehicle pilot is required to be high. SUMMARY

[0005] The application provides an unmanned aerial vehicle (UAV) autonomous dynamic landing device and a landing method thereof, and can meet various application scenarios such as long-distance positioning, short-distance positioning and dynamic landing.

[0006] In order to achieve the purpose of the application, the technical scheme adopted is as follows: an unmanned aerial vehicle autonomous dynamic landing device, the landing device comprising a landing platform, a base, an electric take-off and landing mechanism, an electromagnetic pushing mechanism, a protection cone, a docking code and a landing code, the base being located above the landing platform, the protection cone being fixed on the base through the electric take-off and landing mechanism, the electromagnetic pushing mechanism being installed at the center of the protection cone, the docking code being vertically fixed above the protection cone, and the landing code being horizontally fixed on the landing platform.

[0007] As an optimization scheme of the application, a direct-drive telescopic mechanism is installed on the unmanned aerial vehicle, the tail end of the direct-drive telescopic mechanism is connected with the power supply of the unmanned aerial vehicle, and a power receiving module is installed at the front end of the direct-drive telescopic mechanism.

[0008] As an optimization scheme of the application, a direct-current power supply is installed in a power supply groove in the base, and the direct-current power supply supplies power to the electromagnetic pushing mechanism after receiving a landing request instruction sent by a nearby unmanned aerial vehicle.

[0009] As an optimization scheme of the application, the electromagnetic pushing mechanism comprises a magnetic power supply module, a push-pull rod and a servo motor, the magnetic power supply module is fixed at the front end of the electromagnetic pushing mechanism, one end of the push-pull rod is connected with the magnetic power supply module, the other end of the push-pull rod is fixed at the center of the protection cone, the push-pull rod realizes radial telescoping under the action of the servo motor, and the magnetic power supply module and the power receiving module of the direct-drive telescopic mechanism are adsorbed to charge the power supply of the unmanned aerial vehicle.

[0010] As an optimization scheme of the application, the electric take-off and landing mechanism comprises a take-off and landing rod and a driving assembly, and the take-off and landing rod adjusts the height of the protection cone under the driving of the driving assembly.

[0011] In order to achieve the purpose of the application, the technical scheme adopted is as follows: a method for landing by using an unmanned aerial vehicle autonomous dynamic landing device, the landing method comprising the following steps:

[0012] S1, the landing device is fixed on the top of a car, and the unmanned aerial vehicle reaches above the car in a moving state according to GPS information and follows the car in a fixed height;

[0013] S2, the unmanned aerial vehicle positions and tracks the landing code on the landing platform on the top of the car by using a gimbal camera at the bottom, and reaches near the landing platform and keeps relative stillness with the car when the following conditions are met:

[0014]

[0015] V drone is the speed of the unmanned aerial vehicle moving to the landing device, V carP is the speed of the sports car, drone P is the position of the UAV, car P is the position of the sports car, AV is the speed difference between the UAV and the sports car, AP is the position deviation between the UAV and the sports car, and C is the steady-state position deviation.

[0016] S3, the UAV detects the docking code above the protection cone for positioning by using the front wide-angle camera, completes the initial docking attitude adjustment, and at the same time, the direct current power supply supplies power to the electromagnetic pushing mechanism, and the direct drive telescopic mechanism on the UAV is elongated;

[0017] S4, the UAV continuously fine-tunes the docking attitude, and when the following conditions are met, the electromagnetic pushing mechanism successfully adsorbs the direct drive telescopic mechanism:

[0018]

[0019] Wherein, epsilon is the maximum position error of the magnetic attraction power supply module in the protection cone.

[0020] S5, the electric take-off and landing mechanism starts to reduce the height, and the UAV stably descends to the landing platform, the power supply module and the power receiving module are docked, and the UAV starts to charge.

[0021] As an optimization scheme of the present application, the type of the landing code can be selected as a single identification code or a plurality of identification codes nested to meet the positioning requirements of the height.

[0022] As an optimization scheme of the present application, in step S1, the position error of the UAV and the car does not exceed 5 meters.

[0023] As an optimization scheme of the present application, the communication between the landing device and the UAV adopts the Mavlink protocol.

[0024] The present application has positive effects: 1) the mechanical structure of the present application is simple, the function is flexible, and the cooperation of the landing code, the docking code and the electromagnetic pushing mechanism can meet the requirements of various application scenarios such as long-distance positioning, short-distance positioning and dynamic landing of the UAV;

[0025] 2) the landing code and the docking code of the present application are respectively horizontally placed and vertically placed, which can adapt to different camera installation directions, compared with the landing device using a single identification code, the detection range is wider, the visual information provided is more, and the target loss problem of the UAV when approaching the identification code is avoided;

[0026] 3) the cooperation of the electromagnetic pushing mechanism and the direct drive telescopic mechanism of the present application significantly improves the fault tolerance rate of the UAV in the terminal control stage of dynamic landing, so that the UAV can complete the adsorption in time when approaching the target position, improves the dynamic landing efficiency and also ensures the reliability;

[0027] 4) The power supply module and the power receiving module of the application can realize unmanned aerial vehicle landing and charging, maximizing the charging time of the unmanned aerial vehicle;

[0028] 5) The dynamic landing problem of the application is decomposed into dynamic tracking and dynamic docking by the docking device, avoiding the collision problem of the unmanned aerial vehicle and the surface of the landing platform, reducing the landing difficulty and ensuring the success rate of landing. BRIEF DESCRIPTION OF DRAWINGS

[0029] The application will be further described in detail below in combination with the drawings and specific embodiments.

[0030] Figure 1 The schematic diagram of the unmanned aerial vehicle dynamic landing device of the application

[0031] Figure 2 The docking process schematic diagram of the unmanned aerial vehicle dynamic landing device of the application

[0032] Figure 3 The charging process schematic diagram of the unmanned aerial vehicle dynamic landing device of the application

[0033] Figure 4 The work flow chart of the unmanned aerial vehicle dynamic landing device of the application

[0034] Among them: 1, landing platform, 2, base, 3, power slot, 4, electric take-off and landing mechanism, 5, electromagnetic pushing mechanism, 6, protection cone, 7, docking code, 8, landing code. DETAILED DESCRIPTION

[0035] As shown in Figure 1 The application discloses an unmanned aerial vehicle autonomous dynamic landing device, the landing device comprising a landing platform 1, a base 2, an electric take-off and landing mechanism 4, an electromagnetic pushing mechanism 5, a protection cone 6, a docking code 7 and a landing code 8, the base 2 being located above the landing platform 1, the protection cone 6 being fixed on the base 2 through the electric take-off and landing mechanism 4, the electromagnetic pushing mechanism 5 being installed at the center of the protection cone 6, the docking code 7 being vertically fixed above the protection cone 6, and the landing code 8 being horizontally fixed on the landing platform 1.

[0036] The center of the base 2 has a threaded hole for fixing the electric take-off and landing mechanism 4,

[0037] A direct drive telescopic mechanism is installed on the unmanned aerial vehicle, the tail end of the direct drive telescopic mechanism being connected with the power supply of the unmanned aerial vehicle, and the front end of the direct drive telescopic mechanism being provided with a power receiving module.

[0038] A direct current power supply is installed in a power slot 3 inside the base 2, and the direct current power supply is powered on for the electromagnetic pushing mechanism 5 after receiving a landing request instruction sent by a nearby unmanned aerial vehicle.

[0039] As shown in Figure 2As shown, the electromagnetic pushing mechanism 5 includes a magnetic power supply module, a push-pull rod and a servo motor. The magnetic power supply module is fixed at the front end of the electromagnetic pushing mechanism 5. One end of the push-pull rod is connected with the magnetic power supply module, and the other end of the push-pull rod is fixed at the center of the protection cone 6. The push-pull rod realizes radial expansion and contraction under the action of the servo motor. After the magnetic power supply module is adsorbed with the power receiving module of the direct drive telescopic mechanism, the power supply of the unmanned aerial vehicle is charged.

[0040] The electric take-off and landing mechanism 4 includes a take-off and landing rod and a driving assembly. The take-off and landing rod adjusts the height of the protection cone 6 under the driving of the driving assembly.

[0041] As shown in the drawings, Figure 3 The base 2 has a power supply groove 3 inside and is fixed on the landing platform 1 through four symmetrical threaded holes. The landing code 8 is horizontally fixed on the landing platform 1. The size can be customized according to the landing height interval of the unmanned aerial vehicle, which is used for remote visual positioning and tracking of the unmanned aerial vehicle at a high place. The docking code 7 is vertically fixed above the protection cone 6. The size of the docking code 7 can be customized according to the detection range of the unmanned aerial vehicle, which is used for attitude adjustment during the docking process of the direct drive telescopic mechanism and the electromagnetic pushing mechanism 5 when the unmanned aerial vehicle is near the landing platform 1. The direct current power supply is installed in the power supply groove 3 inside the base 2, which can be powered on after receiving the landing request instruction sent by the nearby unmanned aerial vehicle.

[0042] As shown in the drawings, Figure 4 The landing method includes the following steps:

[0043] S1, the unmanned aerial vehicle autonomous dynamic landing device is fixed on the top of the car. The unmanned aerial vehicle reaches above the car in a moving state according to the GPS information, and follows the car in a fixed height;

[0044] S2, landing code positioning: the unmanned aerial vehicle uses the bottom gimbal camera to position and track the landing code 8 on the landing platform 1 on the top of the car. When the following conditions are met, the unmanned aerial vehicle reaches near the landing platform 1 and keeps relative static with the car:

[0045]

[0046] Wherein, V drone is the speed of the unmanned aerial vehicle moving to the landing device, V car is the speed of the moving car, P drone is the position of the unmanned aerial vehicle, P car is the position of the moving car, ΔV is the speed difference between the unmanned aerial vehicle and the moving car, ΔP is the position deviation between the unmanned aerial vehicle and the moving car, and C is the steady-state position deviation (the position deviation of the unmanned aerial vehicle from one steady state to another steady state);

[0047] S3, the UAV detects the docking code 7 above the protection cone 6 for positioning by using the front wide-angle camera, completes the initial docking attitude adjustment, and at the same time, the direct current power supply supplies power to the electromagnetic pushing mechanism 5, and the direct drive telescopic mechanism on the UAV is elongated;

[0048] S4, docking code attitude adjustment: the UAV continuously fine-tunes the docking attitude, and when the following conditions are met, the electromagnetic pushing mechanism 5 successfully adsorbs the direct drive telescopic mechanism,

[0049] (docking adsorption):

[0050]

[0051] Wherein, ε is the maximum position error of the conical adsorption device.

[0052] S5, the electric take-off and landing mechanism starts to lower the height, and the UAV stably descends to the landing platform, the power supply module and the power receiving module are docked, and the UAV starts to charge.

[0053] The type of the landing code 8 can be selected as a single identification code or a nested mode of multiple identification codes to meet the positioning requirements of different heights.

[0054] In step S1, the position error of the UAV and the car is not more than 5 meters. The communication between the landing device and the UAV adopts the Mavlink protocol.

[0055] The above specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present application. It should be understood that the above description is only a specific embodiment of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A method for landing an unmanned aerial vehicle (UAV) with an autonomous dynamic landing device, characterized in that: The landing device includes a landing platform (1), a base (2), an electric take-off and landing mechanism (4), an electromagnetic propulsion mechanism (5), a protective cone (6), a docking code (7), and a landing code (8). The base (2) is located above the landing platform (1). The protective cone (6) is fixed to the base (2) by the electric take-off and landing mechanism (4). The electromagnetic propulsion mechanism (5) is installed at the center of the protective cone (6). The docking code (7) is vertically fixed above the protective cone (6). The landing code (8) is horizontally fixed on the landing platform (1). The landing method includes the following steps: S1. The landing device is fixed to the top of the car. The drone arrives above the moving car based on GPS information and follows the car at a fixed height. S2. The drone uses the gimbal camera at the bottom to locate and track the landing code (8) on the landing platform (1) on the top of the car. When the following conditions are met, it reaches the vicinity of the landing platform (1) and remains relatively stationary with the car. in, V drone The speed at which the drone moves toward the landing device. V car For the speed of the sports car, P drone The location of the drone. P car For the position of the sports car, Δ V represents the speed difference between the drone and the moving car. ΔP The positional deviation between the drone and the moving car, C This represents the steady-state position deviation. S3. The UAV uses a front-facing wide-angle camera to detect the docking code (7) above the protective cone (6) used for positioning, completes the initial docking attitude adjustment, and at the same time, the DC power supply powers the electromagnetic propulsion mechanism (5), and the direct drive telescopic mechanism on the UAV extends. S4. The UAV continuously fine-tunes its docking attitude. When the following conditions are met, the electromagnetic propulsion mechanism (5) successfully adsorbs the direct-drive telescopic mechanism: Wherein, ε is the maximum position error of the magnetic power supply module inside the protective cone (6); S5. The electric take-off and landing mechanism (4) begins to descend, and the UAV smoothly lands on the landing platform. The power supply module and the power receiving module are connected, and the UAV begins to charge.

2. The method for landing an unmanned aerial vehicle (UAV) with an autonomous dynamic landing device according to claim 1, characterized in that: The drone is equipped with a direct-drive telescopic mechanism. The end of the direct-drive telescopic mechanism is connected to the power supply of the drone, and the front end of the direct-drive telescopic mechanism is equipped with a power receiving module.

3. The method for landing an unmanned aerial vehicle (UAV) with an autonomous dynamic landing device according to claim 2, characterized in that: The DC power supply is installed in the power supply slot (3) inside the base (2). After receiving the landing request instruction sent by the nearby UAV, the DC power supply powers the electromagnetic propulsion mechanism (5).

4. The method for landing an unmanned aerial vehicle (UAV) with an autonomous dynamic landing device according to claim 3, characterized in that: The electromagnetic propulsion mechanism (5) includes a magnetic power supply module, a push-pull rod and a servo motor. The magnetic power supply module is fixed at the front end of the electromagnetic propulsion mechanism (5). One end of the push-pull rod is connected to the magnetic power supply module, and the other end of the push-pull rod is fixed at the center of the protective cone (6). The push-pull rod achieves radial extension and retraction under the action of the servo motor. After the magnetic power supply module is attracted to the power receiving module of the direct drive extension mechanism, it charges the power supply of the UAV.

5. The method for landing an unmanned aerial vehicle (UAV) with an autonomous dynamic landing device according to claim 4, characterized in that: The electric lifting mechanism (4) includes a lifting boom and a drive assembly. The lifting boom adjusts the height of the protective cone (6) under the drive of the drive assembly.

6. The method for landing an unmanned aerial vehicle (UAV) with an autonomous dynamic landing device according to claim 5, characterized in that: The type of landing code (8) can be a single identification code or multiple nested identification codes to meet the high positioning requirements.

7. The method for landing an unmanned aerial vehicle (UAV) with an autonomous dynamic landing device according to claim 6, characterized in that: In step S1, the positional error between the drone and the car does not exceed 5 meters.

8. The method for landing an unmanned aerial vehicle (UAV) with an autonomous dynamic landing device according to claim 6, characterized in that: The landing device communicates with the UAV using the Mavlink protocol.

Images